Open Source IMU and AHRS Algorithm with x-IMU

The x-IMU's propriety on-board IMU and AHRS sensor fusion algorithms provide a real-time measurement of orientation relative to the Earth. Many projects require access to algorithm source code so that it may be run off-board, modified or used to post-process sensor data and take advantage of non-real-time techniques. This open source project implements Madgwick's AHRS and IMU algorithms in C# and demonstrates their real-time performance alongside the x-IMU's own propriety algorithm. The source code also includes Madgwick's implementation of Robert Mayhony's so called 'DCM filter' in quaternion form.

For more information and source code, see:
http://www.x-io.co.uk/node/10#open_source_imu_and_ahrs_algorithms

For more details on the open source algorithms including the source IEEE papers and implementations in C, C# and MATLAB, see:
http://www.x-io.co.uk/node/8#open_source_imu_and_ahrs_algorithms

Category:

Science & Technology

Tags:

• open source
• algorithm
• Madgwick
• gradient descent
• MARG
• x-IMU
• IMU
• AHRS
• gyro
• gyroscope
• accelerometer
• magnetometer
• USB
• wireless
• Bluetooth
• SD card
• battery
• real-time
• data logger
• C#
• .NET
• dotNet
• 3D
• 6DOF
• tracking
• orientation
• attitude
• pitch
• roll
• yaw
• Euler
• angle
• rotation matrix
• quaternion
• digital IO
• analogue
• PWM
• UART

[givechance87]

hi , I read your article and notice that u do some calibrations to take care of the hard iron effect . How about the soft iron effect ? Did u do something to handle that ? Thanks.

[SebMadgwickResearch]

@givechance87 This demo did not feature any soft-iron calibration. I have used soft-iron calibration in other applications.

[givechance87]

@SebMadgwickResearch so can you kindly recommand some articles about how to handle soft-iron error ?

[SebMadgwickResearch]

@givechance87 Academic papers on this subject are often extremely difficult to utilise practically. Of far more use are application notes (published by magnetometer manufactures) and web articles/blogs written by engineers & hobbyist. The sparkfun.com forum has numerous topics on this, each including links to resources (inc. source-code). I suggest you start there.

[whynotmeutube]

Is there any way to implement 3D position tracking?

[SebMadgwickResearch]

Yes, position tracking is possible is certain situations. See some of my other videos.

[KapteinKUK]

Love your PC screen elevation device! :)

[tavishn]

Hi, does the IMU algorithm work about as good as the AHRS one?

[SebMadgwickResearch]

Yes. Read the documentation.

[HadronMe]

@SebMadgwickResearch You're right. One last question that has been me aquiles eel, do you compensate for magnetic disturbances?